OpenRaiser/Intern-Atlas huggingface dataset:
Latency-aware and -predictable Communication with Open Protocol Stacks for Remote Drone Control
Venue: arXiv cs.NI 2020
Year: 2020

In order to create cooperating swarms of Unmanned Autonomous Vehicles (UAVs) that also interact with various other systems and devices, open and free communication systems are mandatory. This paper presents an implementation of such a communication system to incorporate the Crazyflie nano-drone as a UAV platform. The protocol stack leverages the open Predictably Reliable Real-time Transport (PRRT) protocol that adds latency-awareness and -predictability to stacks composed of standard Internet protocols. To enable the drone to receive and reply to control commands via Wi-Fi, it has been extended with a Raspberry Pi that runs two variants of the Crazybridge---a software to connect the control board to the network. To evaluate how practical this solution is for the use in control applications, the communication has been analysed with a focus on the latency properties. Our investigations show that despite using the open protocol stack---and hence opting out of specialised implementations---the resulting latencies are in the same order of magnitude (4 to 9 ms) as the latency of the proprietary link.
Better Distractions: Transformer-based Distractor Generation and Multiple Choice Question Filtering
Venue: arXiv cs.CL 2020
Year: 2020

For the field of education, being able to generate semantically correct and educationally relevant multiple choice questions (MCQs) could have a large impact. While question generation itself is an active research topic, generating distractors (the incorrect multiple choice options) receives much less attention. A missed opportunity, since there is still a lot of room for improvement in this area. In this work, we train a GPT-2 language model to generate three distractors for a given question and text context, using the RACE dataset. Next, we train a BERT language model to answer MCQs, and use this model as a filter, to select only questions that can be answered and therefore presumably make sense. To evaluate our work, we start by using text generation metrics, which show that our model outperforms earlier work on distractor generation (DG) and achieves state-of-the-art performance. Also, by calculating the question answering ability, we show that larger base models lead to better performance. Moreover, we conducted a human evaluation study, which confirmed the quality of the generated questions, but showed no statistically significant effect of the QA filter.
An Empirical Study for Vietnamese Constituency Parsing with Pre-training
Venue: arXiv cs.CL 2020
Year: 2020

In this work, we use a span-based approach for Vietnamese constituency parsing. Our method follows the self-attention encoder architecture and a chart decoder using a CKY-style inference algorithm. We present analyses of the experiment results of the comparison of our empirical method using pre-training models XLM-Roberta and PhoBERT on both Vietnamese datasets VietTreebank and NIIVTB1. The results show that our model with XLM-Roberta archived the significantly F1-score better than other pre-training models, VietTreebank at 81.19% and NIIVTB1 at 85.70%.
The Base Measure Problem and its Solution
Venue: arXiv cs.PL 2020
Year: 2020

Probabilistic programming systems generally compute with probability density functions, leaving the base measure of each such function implicit. This mostly works, but creates problems when densities with respect to different base measures are accidentally combined or compared. Mistakes also happen when computing volume corrections for continuous changes of variables, which in general depend on the support measure. We motivate and clarify the problem in the context of a composable library of probability distributions and bijective transformations. We solve the problem by standardizing on Hausdorff measure as a base, and deriving formulas for comparing and combining mixed-dimension densities, as well as updating densities with respect to Hausdorff measure under diffeomorphic transformations. We also propose a software architecture that implements these formulas efficiently in the common case. We hope that by adopting our solution, probabilistic programming systems can become more robust and general, and make a broader class of models accessible to practitioners.
Semi-supervised Batch Active Learning via Bilevel Optimization
Venue: arXiv cs.LG 2020
Year: 2020

Active learning is an effective technique for reducing the labeling cost by improving data efficiency. In this work, we propose a novel batch acquisition strategy for active learning in the setting where the model training is performed in a semi-supervised manner. We formulate our approach as a data summarization problem via bilevel optimization, where the queried batch consists of the points that best summarize the unlabeled data pool. We show that our method is highly effective in keyword detection tasks in the regime when only few labeled samples are available.
Investigating and Simplifying Masking-based Saliency Methods for Model Interpretability
Venue: arXiv cs.CV 2020
Year: 2020

Saliency maps that identify the most informative regions of an image for a classifier are valuable for model interpretability. A common approach to creating saliency maps involves generating input masks that mask out portions of an image to maximally deteriorate classification performance, or mask in an image to preserve classification performance. Many variants of this approach have been proposed in the literature, such as counterfactual generation and optimizing over a Gumbel-Softmax distribution. Using a general formulation of masking-based saliency methods, we conduct an extensive evaluation study of a number of recently proposed variants to understand which elements of these methods meaningfully improve performance. Surprisingly, we find that a well-tuned, relatively simple formulation of a masking-based saliency model outperforms many more complex approaches. We find that the most important ingredients for high quality saliency map generation are (1) using both masked-in and masked-out objectives and (2) training the classifier alongside the masking model. Strikingly, we show that a masking model can be trained with as few as 10 examples per class and still generate saliency maps with only a 0.7-point increase in localization error.
Not Judging a User by Their Cover: Understanding Harm in Multi-Modal Processing within Social Media Research
Venue: arXiv cs.SI 2020
Year: 2020

Social media has shaken the foundations of our society, unlikely as it may seem. Many of the popular tools used to moderate harmful digital content, however, have received widespread criticism from both the academic community and the public sphere for middling performance and lack of accountability. Though social media research is thought to center primarily on natural language processing, we demonstrate the need for the community to understand multimedia processing and its unique ethical considerations. Specifically, we identify statistical differences in the performance of Amazon Turk (MTurk) annotators when different modalities of information are provided and discuss the patterns of harm that arise from crowd-sourced human demographic prediction. Finally, we discuss the consequences of those biases through auditing the performance of a toxicity detector called Perspective API on the language of Twitter users across a variety of demographic categories.
A Differentiable Newton Euler Algorithm for Multi-body Model Learning
Venue: arXiv cs.RO 2020
Year: 2020

In this work, we examine a spectrum of hybrid model for the domain of multi-body robot dynamics. We motivate a computation graph architecture that embodies the Newton Euler equations, emphasizing the utility of the Lie Algebra form in translating the dynamical geometry into an efficient computational structure for learning. We describe the used virtual parameters that enable unconstrained physical plausible dynamics and the used actuator models. In the experiments, we define a family of 26 grey-box models and evaluate them for system identification of the simulated and physical Furuta Pendulum and Cartpole. The comparison shows that the kinematic parameters, required by previous white-box system identification methods, can be accurately inferred from data. Furthermore, we highlight that models with guaranteed bounded energy of the uncontrolled system generate non-divergent trajectories, while more general models have no such guarantee, so their performance strongly depends on the data distribution. Therefore, the main contributions of this work is the introduction of a white-box model that jointly learns dynamic and kinematics parameters and can be combined with black-box components. We then provide extensive empirical evaluation on challenging systems and different datasets that elucidates the comparative performance of our grey-box architecture with comparable white- and black-box models.
Imitation with Neural Density Models
Venue: arXiv cs.LG 2020
Year: 2020

We propose a new framework for Imitation Learning (IL) via density estimation of the expert's occupancy measure followed by Maximum Occupancy Entropy Reinforcement Learning (RL) using the density as a reward. Our approach maximizes a non-adversarial model-free RL objective that provably lower bounds reverse Kullback-Leibler divergence between occupancy measures of the expert and imitator. We present a practical IL algorithm, Neural Density Imitation (NDI), which obtains state-of-the-art demonstration efficiency on benchmark control tasks.
Facial Emotion Recognition with Noisy Multi-task Annotations
Venue: arXiv cs.CV 2020
Year: 2020

Human emotions can be inferred from facial expressions. However, the annotations of facial expressions are often highly noisy in common emotion coding models, including categorical and dimensional ones. To reduce human labelling effort on multi-task labels, we introduce a new problem of facial emotion recognition with noisy multi-task annotations. For this new problem, we suggest a formulation from the point of joint distribution match view, which aims at learning more reliable correlations among raw facial images and multi-task labels, resulting in the reduction of noise influence. In our formulation, we exploit a new method to enable the emotion prediction and the joint distribution learning in a unified adversarial learning game. Evaluation throughout extensive experiments studies the real setups of the suggested new problem, as well as the clear superiority of the proposed method over the state-of-the-art competing methods on either the synthetic noisy labeled CIFAR-10 or practical noisy multi-task labeled RAF and AffectNet. The code is available at https://github.com/sanweiliti/noisyFER.
Failure Prediction by Confidence Estimation of Uncertainty-Aware Dirichlet Networks
Venue: arXiv cs.LG 2020
Year: 2020

Reliably assessing model confidence in deep learning and predicting errors likely to be made are key elements in providing safety for model deployment, in particular for applications with dire consequences. In this paper, it is first shown that uncertainty-aware deep Dirichlet neural networks provide an improved separation between the confidence of correct and incorrect predictions in the true class probability (TCP) metric. Second, as the true class is unknown at test time, a new criterion is proposed for learning the true class probability by matching prediction confidence scores while taking imbalance and TCP constraints into account for correct predictions and failures. Experimental results show our method improves upon the maximum class probability (MCP) baseline and predicted TCP for standard networks on several image classification tasks with various network architectures.
DeepApple: Deep Learning-based Apple Detection using a Suppression Mask R-CNN
Venue: arXiv cs.CV 2020
Year: 2020

Robotic apple harvesting has received much research attention in the past few years due to growing shortage and rising cost in labor. One key enabling technology towards automated harvesting is accurate and robust apple detection, which poses great challenges as a result of the complex orchard environment that involves varying lighting conditions and foliage/branch occlusions. This letter reports on the development of a novel deep learning-based apple detection framework named DeepApple. Specifically, we first collect a comprehensive apple orchard dataset for 'Gala' and 'Blondee' apples, using a color camera, under different lighting conditions (sunny vs. overcast and front lighting vs. back lighting). We then develop a novel suppression Mask R-CNN for apple detection, in which a suppression branch is added to the standard Mask R-CNN to suppress non-apple features generated by the original network. Comprehensive evaluations are performed, which show that the developed suppression Mask R-CNN network outperforms state-of-the-art models with a higher F1-score of 0.905 and a detection time of 0.25 second per frame on a standard desktop computer.
How much progress have we made in neural network training? A New Evaluation Protocol for Benchmarking Optimizers
Venue: arXiv cs.LG 2020
Year: 2020

Many optimizers have been proposed for training deep neural networks, and they often have multiple hyperparameters, which make it tricky to benchmark their performance. In this work, we propose a new benchmarking protocol to evaluate both end-to-end efficiency (training a model from scratch without knowing the best hyperparameter) and data-addition training efficiency (the previously selected hyperparameters are used for periodically re-training the model with newly collected data). For end-to-end efficiency, unlike previous work that assumes random hyperparameter tuning, which over-emphasizes the tuning time, we propose to evaluate with a bandit hyperparameter tuning strategy. A human study is conducted to show that our evaluation protocol matches human tuning behavior better than the random search. For data-addition training, we propose a new protocol for assessing the hyperparameter sensitivity to data shift. We then apply the proposed benchmarking framework to 7 optimizers and various tasks, including computer vision, natural language processing, reinforcement learning, and graph mining. Our results show that there is no clear winner across all the tasks.
The Effect of Spectrogram Reconstruction on Automatic Music Transcription: An Alternative Approach to Improve Transcription Accuracy
Venue: arXiv cs.SD 2020
Year: 2020

Most of the state-of-the-art automatic music transcription (AMT) models break down the main transcription task into sub-tasks such as onset prediction and offset prediction and train them with onset and offset labels. These predictions are then concatenated together and used as the input to train another model with the pitch labels to obtain the final transcription. We attempt to use only the pitch labels (together with spectrogram reconstruction loss) and explore how far this model can go without introducing supervised sub-tasks. In this paper, we do not aim at achieving state-of-the-art transcription accuracy, instead, we explore the effect that spectrogram reconstruction has on our AMT model. Our proposed model consists of two U-nets: the first U-net transcribes the spectrogram into a posteriorgram, and a second U-net transforms the posteriorgram back into a spectrogram. A reconstruction loss is applied between the original spectrogram and the reconstructed spectrogram to constrain the second U-net to focus only on reconstruction. We train our model on three different datasets: MAPS, MAESTRO, and MusicNet. Our experiments show that adding the reconstruction loss can generally improve the note-level transcription accuracy when compared to the same model without the reconstruction part. Moreover, it can also boost the frame-level precision to be higher than the state-of-the-art models. The feature maps learned by our U-net contain gridlike structures (not present in the baseline model) which implies that with the presence of the reconstruction loss, the model is probably trying to count along both the time and frequency axis, resulting in a higher note-level transcription accuracy.
Blind Federated Edge Learning
Venue: arXiv cs.IT 2020
Year: 2020

We study federated edge learning (FEEL), where wireless edge devices, each with its own dataset, learn a global model collaboratively with the help of a wireless access point acting as the parameter server (PS). At each iteration, wireless devices perform local updates using their local data and the most recent global model received from the PS, and send their local updates to the PS over a wireless fading multiple access channel (MAC). The PS then updates the global model according to the signal received over the wireless MAC, and shares it with the devices. Motivated by the additive nature of the wireless MAC, we propose an analog `over-the-air' aggregation scheme, in which the devices transmit their local updates in an uncoded fashion. Unlike recent literature on over-the-air edge learning, here we assume that the devices do not have channel state information (CSI), while the PS has imperfect CSI. Instead, the PS is equipped multiple antennas to alleviate the destructive effect of the channel, exacerbated due to the lack of perfect CSI. We design a receive beamforming scheme at the PS, and show that it can compensate for the lack of perfect CSI when the PS has a sufficient number of antennas. We also derive the convergence rate of the proposed algorithm highlighting the impact of the lack of perfect CSI, as well as the number of PS antennas. Both the experimental results and the convergence analysis illustrate the performance improvement of the proposed algorithm with the number of PS antennas, where the wireless fading MAC becomes deterministic despite the lack of perfect CSI when the PS has a sufficiently large number of antennas.
TTPLA: An Aerial-Image Dataset for Detection and Segmentation of Transmission Towers and Power Lines
Venue: arXiv cs.CV 2020
Year: 2020

Accurate detection and segmentation of transmission towers~(TTs) and power lines~(PLs) from aerial images plays a key role in protecting power-grid security and low-altitude UAV safety. Meanwhile, aerial images of TTs and PLs pose a number of new challenges to the computer vision researchers who work on object detection and segmentation -- PLs are long and thin, and may show similar color as the background; TTs can be of various shapes and most likely made up of line structures of various sparsity; The background scene, lighting, and object sizes can vary significantly from one image to another. In this paper we collect and release a new TT/PL Aerial-image (TTPLA) dataset, consisting of 1,100 images with the resolution of 3,840$\times$2,160 pixels, as well as manually labeled 8,987 instances of TTs and PLs. We develop novel policies for collecting, annotating, and labeling the images in TTPLA. Different from other relevant datasets, TTPLA supports evaluation of instance segmentation, besides detection and semantic segmentation. To build a baseline for detection and segmentation tasks on TTPLA, we report the performance of several state-of-the-art deep learning models on our dataset. TTPLA dataset is publicly available at https://github.com/r3ab/ttpla_dataset
On the Adversarial Robustness of LASSO Based Feature Selection
Venue: arXiv cs.LG 2020
Year: 2020

In this paper, we investigate the adversarial robustness of feature selection based on the $\ell_1$ regularized linear regression model, namely LASSO. In the considered model, there is a malicious adversary who can observe the whole dataset, and then will carefully modify the response values or the feature matrix in order to manipulate the selected features. We formulate the modification strategy of the adversary as a bi-level optimization problem. Due to the difficulty of the non-differentiability of the $\ell_1$ norm at the zero point, we reformulate the $\ell_1$ norm regularizer as linear inequality constraints. We employ the interior-point method to solve this reformulated LASSO problem and obtain the gradient information. Then we use the projected gradient descent method to design the modification strategy. In addition, We demonstrate that this method can be extended to other $\ell_1$ based feature selection methods, such as group LASSO and sparse group LASSO. Numerical examples with synthetic and real data illustrate that our method is efficient and effective.
Is this pofma? Analysing public opinion and misinformation in a COVID-19 Telegram group chat
Venue: arXiv cs.SI 2020
Year: 2020

We analyse a Singapore-based COVID-19 Telegram group with more than 10,000 participants. First, we study the group's opinion over time, focusing on four dimensions: participation, sentiment, topics, and psychological features. We find that engagement peaked when the Ministry of Health raised the disease alert level, but this engagement was not sustained. Second, we search for government-identified misinformation in the group. We find that government-identified misinformation is rare, and that messages discussing these pieces of misinformation express skepticism.
Image Obfuscation for Privacy-Preserving Machine Learning
Venue: arXiv cs.CR 2020
Year: 2020

Privacy becomes a crucial issue when outsourcing the training of machine learning (ML) models to cloud-based platforms offering machine-learning services. While solutions based on cryptographic primitives have been developed, they incur a significant loss in accuracy or training efficiency, and require modifications to the backend architecture. A key challenge we tackle in this paper is the design of image obfuscation schemes that provide enough privacy without significantly degrading the accuracy of the ML model and the efficiency of the training process. In this endeavor, we address another challenge that has persisted so far: quantifying the degree of privacy provided by visual obfuscation mechanisms. We compare the ability of state-of-the-art full-reference quality metrics to concur with human subjects in terms of the degree of obfuscation introduced by a range of techniques. By relying on user surveys and two image datasets, we show that two existing image quality metrics are also well suited to measure the level of privacy in accordance with human subjects as well as AI-based recognition, and can therefore be used for quantifying privacy resulting from obfuscation. With the ability to quantify privacy, we show that we can provide adequate privacy protection to the training image set at the cost of only a few percentage points loss in accuracy.
Optimal Quaternary Hermitian LCD codes
Venue: arXiv cs.IT 2020
Year: 2020

Linear complementary dual (LCD) codes, which is a class of linear codes introduced by Massey, have been extensively studied in literature recently. It has been shown that LCD codes can help to improve the security of the information processed by sensitive devices, especially against so-called side-channel attacks (SCA) and fault invasive attacks. In this paper, Tables are presented of good quaternary Hermitian LCD codes and there are used in the construction of puncturing, extending, shortening and combination codes. Results including tables 3 of the best-known quaternary Hermitian LCD codes of any length $ n \leq 25$ with corresponding dimension $k$ are presented. In addition, Many of these quaternary Hermitian LCD codes given in this paper are optimal which are saturating the lower or upper bound of Grassl's codetable in \cite{Grassl} and some of them are nearly optimal.